{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "======\n",
      "Loading NuScenes tables for version v1.0-trainval...\n",
      "Loading nuScenes-lidarseg...\n",
      "32 category,\n",
      "8 attribute,\n",
      "4 visibility,\n",
      "64386 instance,\n",
      "12 sensor,\n",
      "10200 calibrated_sensor,\n",
      "2631083 ego_pose,\n",
      "68 log,\n",
      "850 scene,\n",
      "34149 sample,\n",
      "2631083 sample_data,\n",
      "1166187 sample_annotation,\n",
      "4 map,\n",
      "34149 lidarseg,\n",
      "Done loading in 33.702 seconds.\n",
      "======\n",
      "Reverse indexing ...\n",
      "Done reverse indexing in 10.4 seconds.\n",
      "======\n"
     ]
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt, numpy as np\n",
    "from nuscenes.nuscenes import NuScenes, NuScenesExplorer\n",
    "from nuscenes.utils.data_classes import Box\n",
    "from pyquaternion import Quaternion\n",
    "# NuScenes path\n",
    "nusc = NuScenes(version='v1.0-trainval', dataroot='/mnt/share/sda-8T/rj/Dateset/Nuscenes/data/nuscenes', verbose=True)\n",
    "nuscExp = NuScenesExplorer(nusc)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Define class Box_with_color based on class Box\n",
    "class Box_with_color(Box):\n",
    "    def __init__(self, center, size, orientation: Quaternion, color = 0):\n",
    "        super().__init__(center, size, orientation)\n",
    "        self.color = color\n",
    "def coordinate_conversion(box_list, sample_token):\n",
    "    \"\"\"\n",
    "    Convert the global coordinate system to the background coordinate system\n",
    "    Param:\n",
    "        box_list: list of box.\n",
    "        sample_token: sample_token of background.\n",
    "    \"\"\"\n",
    "    new_box_list = []\n",
    "    for box in box_list:\n",
    "        box = Box_with_color(center=box['translation'],\n",
    "                size=box['size'],\n",
    "                orientation=Quaternion(box['rotation']),\n",
    "                color=box['color'])\n",
    "        sample_data_token = nusc.get('sample',sample_token)['data']['RADAR_FRONT']\n",
    "        sd_record = nusc.get('sample_data', sample_data_token)\n",
    "        pose_record = nusc.get('ego_pose', sd_record['ego_pose_token'])\n",
    "        yaw = Quaternion(pose_record['rotation']).yaw_pitch_roll[0]\n",
    "        box.translate(-np.array(pose_record['translation']))\n",
    "        box.rotate(Quaternion(scalar=np.cos(yaw / 2), vector=[0, 0, np.sin(yaw / 2)]).inverse)\n",
    "        new_box_list.append(box)\n",
    "    return new_box_list\n",
    "# Give sample_token of frame to render as background\n",
    "sample_token = '98c0d0cc9433448188e863580619445d'\n",
    "# Boxes from the result file\n",
    "box_list = [{'translation': [2021.1061218457126, 2338.378097645742, 1.0813693483270628], \n",
    "             'size': [1.9181417226791382, 4.633460998535156, 1.6746224164962769], \n",
    "             'rotation': [0.2839252749183466, -0.002326623526533283, 0.01552589453234281, 0.9587178790887739], \n",
    "             'color': 'red'},\n",
    "            {'translation': [2014.7999540195915, 2342.3674033016014, 1.1028629004764436], \n",
    "             'size': [1.9022479057312012, 4.5171895027160645, 1.6788620948791504], \n",
    "             'rotation': [0.2877885120352462, -0.00022193294043439072, 0.016492640131474414, 0.957551939013129], \n",
    "             'color': 'blue'}\n",
    "            ]\n",
    "box_list = coordinate_conversion(box_list, sample_token)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 1000x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def render_sample(out_path: str = None,\n",
    "                  axes_limit = None,\n",
    "                  box_list = None,\n",
    "                  sample_token = None) -> None:\n",
    "    \"\"\"\n",
    "    Param:\n",
    "        out_path: Optional path to save the rendered figure to disk.\n",
    "        axes_limit: range to render.\n",
    "        box_list: boxes to render.\n",
    "        sample_token: sample token.\n",
    "    \"\"\"\n",
    "    fig, ax = plt.subplots(figsize = (10,10))\n",
    "    sample_data_token = nusc.get('sample', sample_token)['data']['RADAR_FRONT']\n",
    "    nuscExp.render_ego_centric_map(sample_data_token=sample_data_token, axes_limit=axes_limit, ax=ax)\n",
    "    color = {'blue':(0,0,230),'red':(255,0,0),'purple':(255,0,255),'green':(0,255,0),'black':(0,0,0)}\n",
    "    for box in box_list:\n",
    "        if abs(box.center[0]) > axes_limit or abs(box.center[1]) > axes_limit:\n",
    "            continue\n",
    "        c = np.array(color[box.color]) / 255.0\n",
    "        box.render(ax, view=np.eye(4), colors=(c, c, c),linewidth=1.5)\n",
    "    ax.set_xlim(-axes_limit+5, axes_limit)\n",
    "    ax.set_ylim(-axes_limit+5, axes_limit)\n",
    "    ax.axis('off')\n",
    "    ax.set_aspect('equal')\n",
    "    if out_path is not None:\n",
    "        plt.savefig(out_path)\n",
    "    plt.show()\n",
    "render_sample(out_path = None, axes_limit = 60, box_list=box_list, sample_token=sample_token)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "polymotv2",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.13"
  },
  "orig_nbformat": 4
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
